GraspBalance

Balanced Grasp Pose Detection for Multi-scale Objects with Point Cloud

Algorithm Training Requirements

1. Algorithm Training Environment

[HaiyuanGui@master01 ~]$ conda list
# packages in environment at /hpcfiles/users/HaiyuanGui/.conda/envs/GraspBalance:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                        main    defaults
_openmp_mutex             5.1                       1_gnu    defaults
absl-py                   1.4.0                    pypi_0    pypi
addict                    2.4.0                    pypi_0    pypi
aiofiles                  22.1.0                   pypi_0    pypi
aiosqlite                 0.19.0                   pypi_0    pypi
anyio                     3.7.1                    pypi_0    pypi
appdirs                   1.4.4                    pypi_0    pypi
argon2-cffi               21.3.0                   pypi_0    pypi
argon2-cffi-bindings      21.2.0                   pypi_0    pypi
arrow                     1.2.3                    pypi_0    pypi
attrs                     23.1.0                   pypi_0    pypi
autolab-core              1.1.1                    pypi_0    pypi
autolab-perception        1.0.0                    pypi_0    pypi
babel                     2.12.1                   pypi_0    pypi
backcall                  0.2.0              pyhd3eb1b0_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
beautifulsoup4            4.12.2                   pypi_0    pypi
blas                      1.0                         mkl    defaults
bleach                    6.0.0                    pypi_0    pypi
brotlipy                  0.7.0           py37h27cfd23_1003    defaults
bzip2                     1.0.8                h7b6447c_0    defaults
ca-certificates           2023.01.10           h06a4308_0    anaconda
cached-property           1.5.2                    pypi_0    pypi
cachetools                4.2.4                    pypi_0    pypi
certifi                   2022.12.7        py37h06a4308_0    anaconda
cffi                      1.15.1           py37h5eee18b_3    defaults
charset-normalizer        2.0.4              pyhd3eb1b0_0    defaults
click                     8.1.5                    pypi_0    pypi
colorlog                  6.7.0                    pypi_0    pypi
cryptography              39.0.1           py37h9ce1e76_0    defaults
cuda-cudart               11.7.99                       0    nvidia
cuda-cupti                11.7.101                      0    nvidia
cuda-libraries            11.7.1                        0    nvidia
cuda-nvrtc                11.7.99                       0    nvidia
cuda-nvtx                 11.7.91                       0    nvidia
cuda-runtime              11.7.1                        0    nvidia
cvxopt                    1.3.1                    pypi_0    pypi
cycler                    0.11.0                   pypi_0    pypi
cython                    0.29.36                  pypi_0    pypi
debugpy                   1.6.7                    pypi_0    pypi
decorator                 5.1.1              pyhd3eb1b0_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
defusedxml                0.7.1              pyhd3eb1b0_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
deprecation               2.1.0                    pypi_0    pypi
dill                      0.3.6                    pypi_0    pypi
docker-pycreds            0.4.0                    pypi_0    pypi
easydict                  1.10                     pypi_0    pypi
entrypoints               0.4              py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
exceptiongroup            1.1.2                    pypi_0    pypi
fastjsonschema            2.17.1                   pypi_0    pypi
ffmpeg                    4.3                  hf484d3e_0    pytorch
ffmpeg-python             0.2.0                    pypi_0    pypi
fonttools                 4.38.0                   pypi_0    pypi
fqdn                      1.5.1                    pypi_0    pypi
freetype                  2.12.1               h4a9f257_0    defaults
future                    0.18.3                   pypi_0    pypi
giflib                    5.2.1                h5eee18b_3    defaults
gitdb                     4.0.10                   pypi_0    pypi
gitpython                 3.1.32                   pypi_0    pypi
gmp                       6.2.1                h295c915_3    defaults
gnutls                    3.6.15               he1e5248_0    defaults
google-auth               1.35.0                   pypi_0    pypi
google-auth-oauthlib      0.4.6                    pypi_0    pypi
grasp-nms                 1.0.2                    pypi_0    pypi
graspnetapi               1.2.10                   pypi_0    pypi
grpcio                    1.56.0                   pypi_0    pypi
h5py                      3.8.0                    pypi_0    pypi
idna                      3.4              py37h06a4308_0    defaults
imageio                   2.31.1                   pypi_0    pypi
importlib-metadata        6.7.0                    pypi_0    pypi
importlib-resources       5.12.0                   pypi_0    pypi
importlib_metadata        4.11.3               hd3eb1b0_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
importlib_resources       5.2.0              pyhd3eb1b0_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
intel-openmp              2021.4.0          h06a4308_3561    defaults
ipykernel                 6.16.2                   pypi_0    pypi
ipython                   7.34.0                   pypi_0    pypi
ipython_genutils          0.2.0              pyhd3eb1b0_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ipywidgets                8.0.7                    pypi_0    pypi
isoduration               20.11.0                  pypi_0    pypi
jedi                      0.18.2                   pypi_0    pypi
jinja2                    3.1.2            py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
joblib                    1.3.1                    pypi_0    pypi
jpeg                      9e                   h5eee18b_1    defaults
json5                     0.9.14                   pypi_0    pypi
jsonpointer               2.4                      pypi_0    pypi
jsonschema                4.17.3           py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyter-core              4.12.0                   pypi_0    pypi
jupyter-events            0.6.3                    pypi_0    pypi
jupyter-packaging         0.12.3                   pypi_0    pypi
jupyter-server            1.24.0                   pypi_0    pypi
jupyter-server-fileid     0.9.0                    pypi_0    pypi
jupyter-server-ydoc       0.8.0                    pypi_0    pypi
jupyter-ydoc              0.2.4                    pypi_0    pypi
jupyter_client            7.4.9            py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyter_core              4.11.2           py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyter_server            1.23.4           py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyterlab                3.6.5                    pypi_0    pypi
jupyterlab-pygments       0.2.2                    pypi_0    pypi
jupyterlab-server         2.23.0                   pypi_0    pypi
jupyterlab-widgets        3.0.8                    pypi_0    pypi
jupyterlab_pygments       0.1.2                      py_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jupyterlab_widgets        1.0.0              pyhd3eb1b0_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
kiwisolver                1.4.4                    pypi_0    pypi
knn-pytorch               0.1                      pypi_0    pypi
lame                      3.100                h7b6447c_0    defaults
lcms2                     2.12                 h3be6417_0    defaults
ld_impl_linux-64          2.38                 h1181459_1    defaults
lerc                      3.0                  h295c915_0    defaults
libcublas                 11.10.3.66                    0    nvidia
libcufft                  10.7.2.124           h4fbf590_0    nvidia
libcufile                 1.7.0.149                     0    nvidia
libcurand                 10.3.3.53                     0    nvidia
libcusolver               11.4.0.1                      0    nvidia
libcusparse               11.7.4.91                     0    nvidia
libdeflate                1.17                 h5eee18b_0    defaults
libffi                    3.4.4                h6a678d5_0    defaults
libgcc-ng                 11.2.0               h1234567_1    defaults
libgfortran-ng            8.2.0                hdf63c60_1    anaconda
libgomp                   11.2.0               h1234567_1    defaults
libiconv                  1.16                 h7f8727e_2    defaults
libidn2                   2.3.4                h5eee18b_0    defaults
libnpp                    11.7.4.75                     0    nvidia
libnvjpeg                 11.8.0.2                      0    nvidia
libopenblas               0.3.2                h9ac9557_1    anaconda
libpng                    1.6.39               h5eee18b_0    defaults
libsodium                 1.0.18               h7b6447c_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libstdcxx-ng              11.2.0               h1234567_1    defaults
libtasn1                  4.19.0               h5eee18b_0    defaults
libtiff                   4.5.0                h6a678d5_2    defaults
libunistring              0.9.10               h27cfd23_0    defaults
libwebp                   1.2.4                h11a3e52_1    defaults
libwebp-base